Subversion Repositories FlightCtrl

#include "invenSense.h"

#include "timer0.h"

#include "configuration.h"

#include <avr/io.h>

/*

 * Configuration for my prototype board with InvenSense gyros.

 * The FC 1.3 board is installed upside down, therefore Z acc is reversed but not roll.

 */

// The special auto-zero feature of this gyro needs a port.

#define AUTOZERO_PORT PORTD

#define AUTOZERO_DDR DDRD

#define AUTOZERO_BIT 5

void gyro_calibrate(void) {

        // If port not already set to output and high, do it.

        if (!(AUTOZERO_DDR & (1 << AUTOZERO_BIT)) || !(AUTOZERO_PORT & (1 << AUTOZERO_BIT))) {

                AUTOZERO_PORT |= (1 << AUTOZERO_BIT);

                AUTOZERO_DDR |= (1 << AUTOZERO_BIT);

                delay_ms(100);

        }

        // Make a pulse on the auto-zero output line.

        AUTOZERO_PORT &= ~(1 << AUTOZERO_BIT);

        delay_ms(1);

        AUTOZERO_PORT |= (1 << AUTOZERO_BIT);

        // Delay_ms(10);

        delay_ms_with_adc_measurement(100, 0);

}

void gyro_init() {

        gyro_calibrate();

}

void gyro_setDefaultParameters(void) {

  staticParams.gyroD = 3;

  staticParams.driftCompDivider = 2;

  staticParams.driftCompLimit = 5;

  staticParams.zerothOrderCorrection = 1;

  staticParams.imuReversedFlags = IMU_REVERSE_ACC_Z;

}